Pub Date : 2021-12-28DOI: 10.5772/intechopen.101606
Santiago de J. Favela Ortíz, Edgar A. Martínez-García
This work discloses a kinematic control model to describe the geometry of motion of a two-wheeled biped’s limbs. Limb structure is based on a four-bar linkage useful to alleviate damping motion during self-balance. The robot self-balancing kinematics geometry combines with user-customized polynomial vector fields. The vector fields generate safe reference trajectories. Further, the robot is forced to track the reference path by a model-based time-variant recursive controller. The proposed formulation showed effectiveness and reliable performance through numerical simulations.
{"title":"Rolling Biped Polynomial Motion Planning","authors":"Santiago de J. Favela Ortíz, Edgar A. Martínez-García","doi":"10.5772/intechopen.101606","DOIUrl":"https://doi.org/10.5772/intechopen.101606","url":null,"abstract":"This work discloses a kinematic control model to describe the geometry of motion of a two-wheeled biped’s limbs. Limb structure is based on a four-bar linkage useful to alleviate damping motion during self-balance. The robot self-balancing kinematics geometry combines with user-customized polynomial vector fields. The vector fields generate safe reference trajectories. Further, the robot is forced to track the reference path by a model-based time-variant recursive controller. The proposed formulation showed effectiveness and reliable performance through numerical simulations.","PeriodicalId":109323,"journal":{"name":"Motion Planning [Working Title]","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121530137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-22DOI: 10.5772/intechopen.99826
Emanuele Sansebastiano, A. P. Pobil
Defining the collision-free C-space is crucial in robotics to find whether a robot can successfully perform a motion. However, the complexity of defining this space increases according to the robot’s degree of freedom and the number of obstacles. Heuristics techniques, such as Monte Carlo’s simulation, help developers address this problem and speed up the whole process. Many well-known motion planning algorithms, such as RRT, base their popularity on their ability to find sufficiently good representations of the collision-free C-space very quickly by exploiting heuristics methods, but this mathematical relationship is not highlighted in most textbooks and publications. Each book focuses the attention of the reader on C-space at the beginning, but this concept is left behind page after page. Moreover, even though heuristics methods are widely used to boost algorithms, they are never formalized as part of the Optimization techniques subject. The major goal of this chapter is to highlight the mathematical and intuitive relationship between C-space, heuristic methods, and sampling based planner.
{"title":"The Relationship between “C-Space”, “Heuristic Methods”, and “Sampling Based Planner”","authors":"Emanuele Sansebastiano, A. P. Pobil","doi":"10.5772/intechopen.99826","DOIUrl":"https://doi.org/10.5772/intechopen.99826","url":null,"abstract":"Defining the collision-free C-space is crucial in robotics to find whether a robot can successfully perform a motion. However, the complexity of defining this space increases according to the robot’s degree of freedom and the number of obstacles. Heuristics techniques, such as Monte Carlo’s simulation, help developers address this problem and speed up the whole process. Many well-known motion planning algorithms, such as RRT, base their popularity on their ability to find sufficiently good representations of the collision-free C-space very quickly by exploiting heuristics methods, but this mathematical relationship is not highlighted in most textbooks and publications. Each book focuses the attention of the reader on C-space at the beginning, but this concept is left behind page after page. Moreover, even though heuristics methods are widely used to boost algorithms, they are never formalized as part of the Optimization techniques subject. The major goal of this chapter is to highlight the mathematical and intuitive relationship between C-space, heuristic methods, and sampling based planner.","PeriodicalId":109323,"journal":{"name":"Motion Planning [Working Title]","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123530806","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-20DOI: 10.5772/intechopen.100067
Kenta Takaya, H. Ohta, K. Shibayama, V. Kroumov
This work presents some results about power transmission line tracking control and a full autonomous inspection using a quadrotor helicopter. The presented in this paper power line autonomous inspection allows detecting power line defects caused by thunderstorms, corrosion, insulator malfunctions, and same time monitoring of vegetation under the power line corridor. Traditional inspection is performed by helicopters equipped with high-resolution cameras or by direct visual examination carried out by highly skilled staff climbing over de-energized power lines. However, the visual inspection is time-expensive and costly. Moreover, due to regulatory constraints, the helicopters cannot cover narrow mountainous areas. Unmanned aerial vehicles (UAV) are an attractive alternative for power line inspection. In this work, a mathematical model for the quadrotor helicopter used in the autonomous inspection is presented. The model is successfully evaluated through simulations and flight experiments. Next, the construction of a quadrotor helicopter system and its application to power line autonomous inspection is introduced. Simulation and experimental results demonstrate the efficiency and applicability of that system. The results of this research are in the process of implementation for regular inspection of electrical transmission lines.
{"title":"Tracking Control of Unmanned Aerial Vehicle for Power Line Inspection","authors":"Kenta Takaya, H. Ohta, K. Shibayama, V. Kroumov","doi":"10.5772/intechopen.100067","DOIUrl":"https://doi.org/10.5772/intechopen.100067","url":null,"abstract":"This work presents some results about power transmission line tracking control and a full autonomous inspection using a quadrotor helicopter. The presented in this paper power line autonomous inspection allows detecting power line defects caused by thunderstorms, corrosion, insulator malfunctions, and same time monitoring of vegetation under the power line corridor. Traditional inspection is performed by helicopters equipped with high-resolution cameras or by direct visual examination carried out by highly skilled staff climbing over de-energized power lines. However, the visual inspection is time-expensive and costly. Moreover, due to regulatory constraints, the helicopters cannot cover narrow mountainous areas. Unmanned aerial vehicles (UAV) are an attractive alternative for power line inspection. In this work, a mathematical model for the quadrotor helicopter used in the autonomous inspection is presented. The model is successfully evaluated through simulations and flight experiments. Next, the construction of a quadrotor helicopter system and its application to power line autonomous inspection is introduced. Simulation and experimental results demonstrate the efficiency and applicability of that system. The results of this research are in the process of implementation for regular inspection of electrical transmission lines.","PeriodicalId":109323,"journal":{"name":"Motion Planning [Working Title]","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133317660","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-15DOI: 10.5772/intechopen.99576
Abdul Majeed, Seong Oun Hwang
Unmanned aerial vehicles (UAVs) have demonstrated their effectiveness in performing diverse missions at significantly lower costs compared to the human beings. UAVs have the capabilities to reach and execute mission in those areas that are very difficult for humans to even reach such as forest, deserts, and mines. Integration of the latest technologies including reactive controls, sense and avoid, and onboard computations have strengthened their dominance further in various practical missions. Besides the innovative applications, the use of UAVs imposes several challenges, and one of those challenges is computing a low-cost path for aerial mission by avoiding obstacles as well as satisfying certain performance objectives (a.k.a path planning (PP)). To this end, this chapter provides a concise overview of various aspects concerning to PP including basics introduction of the subject matter, categorization of the PP approaches and problems, taxonomy of the essential components of the PP, performance objectives of the PP approaches, recent algorithms that have been proposed for PP in known and unknown environments, and future prospects of research in this area considering the emerging technologies. With this chapter, we aim to provide sufficient knowledge about one of the essential components of robotics technology (i.e., navigation) for researchers.
{"title":"Recent Developments in Path Planning for Unmanned Aerial Vehicles","authors":"Abdul Majeed, Seong Oun Hwang","doi":"10.5772/intechopen.99576","DOIUrl":"https://doi.org/10.5772/intechopen.99576","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have demonstrated their effectiveness in performing diverse missions at significantly lower costs compared to the human beings. UAVs have the capabilities to reach and execute mission in those areas that are very difficult for humans to even reach such as forest, deserts, and mines. Integration of the latest technologies including reactive controls, sense and avoid, and onboard computations have strengthened their dominance further in various practical missions. Besides the innovative applications, the use of UAVs imposes several challenges, and one of those challenges is computing a low-cost path for aerial mission by avoiding obstacles as well as satisfying certain performance objectives (a.k.a path planning (PP)). To this end, this chapter provides a concise overview of various aspects concerning to PP including basics introduction of the subject matter, categorization of the PP approaches and problems, taxonomy of the essential components of the PP, performance objectives of the PP approaches, recent algorithms that have been proposed for PP in known and unknown environments, and future prospects of research in this area considering the emerging technologies. With this chapter, we aim to provide sufficient knowledge about one of the essential components of robotics technology (i.e., navigation) for researchers.","PeriodicalId":109323,"journal":{"name":"Motion Planning [Working Title]","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125214255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-05DOI: 10.5772/intechopen.99881
Muhammad Shafiq, Zain ANWAR ALI, Eman H. Alkhammash
Pigeon Inspired Optimization (PIO) algorithm is gaining popularity since its development due to faster convergence ability with great efficiencies when compared with other bio-inspired algorithms. The navigation capability of homing pigeons has been precisely used in Pigeon Inspired Optimization algorithm and continuous advancement in existing algorithms is making it more suitable for complex optimization problems in various fields. The main theme of this survey paper is to introduce the basics of PIO along with technical advancements of PIO for the motion planning techniques of dynamic agents. The survey also comprises of findings and limitations of proposed work since its development to help the research scholar around the world for particular algorithm selection especially for motion planning. This survey might be extended up to application based in order to understand the importance of algorithm in future studies.
{"title":"A Survey on Recent Trends of PIO and Its Variants Applied for Motion Planning of Dynamic Agents","authors":"Muhammad Shafiq, Zain ANWAR ALI, Eman H. Alkhammash","doi":"10.5772/intechopen.99881","DOIUrl":"https://doi.org/10.5772/intechopen.99881","url":null,"abstract":"Pigeon Inspired Optimization (PIO) algorithm is gaining popularity since its development due to faster convergence ability with great efficiencies when compared with other bio-inspired algorithms. The navigation capability of homing pigeons has been precisely used in Pigeon Inspired Optimization algorithm and continuous advancement in existing algorithms is making it more suitable for complex optimization problems in various fields. The main theme of this survey paper is to introduce the basics of PIO along with technical advancements of PIO for the motion planning techniques of dynamic agents. The survey also comprises of findings and limitations of proposed work since its development to help the research scholar around the world for particular algorithm selection especially for motion planning. This survey might be extended up to application based in order to understand the importance of algorithm in future studies.","PeriodicalId":109323,"journal":{"name":"Motion Planning [Working Title]","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114247270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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